Clean up

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

control/trajectory_follower/src/mpc_lateral_controller.cpp

@@ -139,9 +139,6 @@ MpcLateralController::MpcLateralController(rclcpp::Node & node) : node_{&node}
     m_mpc.initializeLowPassFilters(steering_lpf_cutoff_hz, error_deriv_lpf_cutoff_hz);
   }
 
-  /* set up ros system */
-  // initTimer(m_mpc.m_ctrl_period);
-
   m_pub_ctrl_cmd =
     node_->create_publisher<autoware_auto_control_msgs::msg::AckermannLateralCommand>(
       "~/output/lateral_control_cmd", 1);
@@ -368,7 +365,6 @@ autoware_auto_control_msgs::msg::AckermannLateralCommand MpcLateralController::c
   autoware_auto_control_msgs::msg::AckermannLateralCommand ctrl_cmd)
 {
   ctrl_cmd.stamp = node_->now();
-  // m_pub_ctrl_cmd->publish(ctrl_cmd);
   m_steer_cmd_prev = ctrl_cmd.steering_tire_angle;
   return ctrl_cmd;
 }
@@ -389,14 +385,6 @@ void MpcLateralController::publishDiagnostic(
   m_pub_diagnostic->publish(diagnostic);
 }
 
-// void MpcLateralController::initTimer(float64_t period_s)
-// {
-//   const auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-//     std::chrono::duration<float64_t>(period_s));
-//   m_timer = rclcpp::create_timer(
-//     this, node_->get_clock(), period_ns, std::bind(&MpcLateralController::onTimer, this));
-// }
-
 void MpcLateralController::declareMPCparameters()
 {
   m_mpc.m_param.prediction_horizon = node_->declare_parameter<int64_t>("mpc_prediction_horizon");

control/trajectory_follower/src/pid_longitudinal_controller.cpp

@@ -16,10 +16,9 @@
 
 #include "motion_common/motion_common.hpp"
 #include "motion_common/trajectory_common.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 #include "time_utils/time_utils.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 #include <algorithm>
 #include <limits>
 #include <memory>
@@ -665,7 +664,6 @@ autoware_auto_control_msgs::msg::LongitudinalCommand PidLongitudinalController::
   cmd.stamp = node_->now();
   cmd.speed = static_cast<decltype(cmd.speed)>(ctrl_cmd.vel);
   cmd.acceleration = static_cast<decltype(cmd.acceleration)>(ctrl_cmd.acc);
-  // m_pub_control_cmd->publish(cmd);
 
   // store current velocity history
   m_vel_hist.push_back({node_->now(), current_vel});

control/trajectory_follower_nodes/CMakeLists.txt

@@ -4,48 +4,6 @@ project(trajectory_follower_nodes)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-set(LATERAL_CONTROLLER_NODE lateral_controller_node)
-ament_auto_add_library(${LATERAL_CONTROLLER_NODE} SHARED
-  include/trajectory_follower_nodes/lateral_controller_node.hpp
-  src/lateral_controller_node.cpp
-)
-
-# TODO(lateral_controller) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts.
-# TODO(lateral_controller) : Temporary workaround until this is fixed.
-target_compile_options(${LATERAL_CONTROLLER_NODE} PRIVATE -Wno-error=old-style-cast)
-rclcpp_components_register_node(${LATERAL_CONTROLLER_NODE}
-  PLUGIN "autoware::motion::control::trajectory_follower_nodes::LateralController"
-  EXECUTABLE ${LATERAL_CONTROLLER_NODE}_exe
-)
-
-set(LONGITUDINAL_CONTROLLER_NODE longitudinal_controller_node)
-ament_auto_add_library(${LONGITUDINAL_CONTROLLER_NODE} SHARED
-  include/trajectory_follower_nodes/longitudinal_controller_node.hpp
-  src/longitudinal_controller_node.cpp
-)
-
-# TODO(longitudinal_controller) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts.
-# TODO(longitudinal_controller) : Temporary workaround until this is fixed.
-target_compile_options(${LONGITUDINAL_CONTROLLER_NODE} PRIVATE -Wno-error=old-style-cast)
-rclcpp_components_register_node(${LONGITUDINAL_CONTROLLER_NODE}
-  PLUGIN "autoware::motion::control::trajectory_follower_nodes::LongitudinalController"
-  EXECUTABLE ${LONGITUDINAL_CONTROLLER_NODE}_exe
-)
-
-set(LATLON_MUXER_NODE latlon_muxer_node)
-ament_auto_add_library(${LATLON_MUXER_NODE} SHARED
-  include/trajectory_follower_nodes/latlon_muxer_node.hpp
-  src/latlon_muxer_node.cpp
-)
-
-# TODO(latlon_muxer) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts.
-# TODO(latlon_muxer) : Temporary workaround until this is fixed.
-target_compile_options(${LATLON_MUXER_NODE} PRIVATE -Wno-error=old-style-cast)
-rclcpp_components_register_node(${LATLON_MUXER_NODE}
-  PLUGIN "autoware::motion::control::trajectory_follower_nodes::LatLonMuxer"
-  EXECUTABLE ${LATLON_MUXER_NODE}_exe
-)
-
 set(CONTROLLER_NODE controller_node)
 ament_auto_add_library(${CONTROLLER_NODE} SHARED
   include/trajectory_follower_nodes/controller_node.hpp
@@ -62,10 +20,7 @@ if(BUILD_TESTING)
   set(TRAJECTORY_FOLLOWER_NODES_TEST test_trajectory_follower_nodes)
   ament_add_ros_isolated_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST}
     test/trajectory_follower_test_utils.hpp
-    # test/test_latlon_muxer_node.cpp
     test/test_controller_node.cpp
-    # test/test_lateral_controller_node.cpp
-    # test/test_longitudinal_controller_node.cpp
   )
   ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node)
   target_link_libraries(
@@ -75,17 +30,6 @@ if(BUILD_TESTING)
   add_smoke_test(${PROJECT_NAME} ${CONTROLLER_NODE}_exe
     PARAM_FILENAMES "lateral_controller_defaults.param.yaml longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml"
   )
-
-
-  # add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe
-  #   PARAM_FILENAMES "latlon_muxer_defaults.param.yaml"
-  # )
-  # add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe
-  #   PARAM_FILENAMES "lateral_controller_defaults.param.yaml test_vehicle_info.param.yaml"
-  # )
-  # add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe
-  #   PARAM_FILENAMES "longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml"
-  # )
 endif()
 
 ament_auto_package(